Distributed Model Predictive Control of Spatially Decoupled Systems Using Switched Cost Functions

This note investigates the stabilization problem of a class of spatially decoupled systems by applying distributed model predictive control (DMPC) with switched cost functions. The proposed DMPC scheme switches the optimization index on a switching surface generated by control invariant sets. By applying the index-switching strategy, stability of the closed-loop system is ensured by the feasibility of a series of constrained optimal control problems. The stability conditions established in this note does not require terminal equality constraints of the optimization problem, and preserves the quadratic program property that is desired in practical applications. It is also observed that the proposed DMPC scheme has benefits dealing with systems that need to take into account safety-related spatial constraints.